Effect of force control system on power and time consumption of tree pruning machine

Abstract

This scientific paper showed the manipulator operation and the end effector of pruning machine with a force control system. The effect of the sensitivity coefficient of force control system, cutting tool rotating speed, wood diameter and the interface effects on cutting time and power consumption were analysed by Duncan’s test. Finally, we have analysed and investigated, once with variance analysis results, the system effect of force control on time and power consumption and suitable method of system usage of force control pruning machine. Based on these results, by increasing the sensitivity coefficient of the force control, the work time has increased and the power consumption has decreased. In addition, less rotational speed must be chosen in a sensitivity coefficient level. Therefore, the force control system of a tree pruning machine may be used for energy saving.